Iulian I. Iordachita CV

Office Address:

Johns Hopkins University
Whiting Scholl of Engineering, Department of Mechanical Engineering
Laboratory for Computational Sensing and Robotics
125 Hackerman Hall
3400 North Charles St.
Baltimore MD 21218-2682

Tel: 410-516-3839
Fax: 410-516-4410
Web: https://amiro.lcsr.jhu.edu/IulianIordachita
E-mail: mailto:[email protected]

Curriculum Vitae – full in PDF

Education

Doctor Engineer Diploma (equivalent to Ph.D.) in Mechanical Engineering, University of Craiova, Romania,11/1996

Dissertation:Contributions to the study of biologically-inspired mechanisms for dragging locomotion.

Diploma of Advanced Studies (equivalent to MS) in Industrial Robots, University of Craiova, Romania, 06/1989

Thesis: Mechanical Hands for Industrial Robots

Mechanical Engineer Diploma (equivalent to BS & MS), Specialization – Technology of Mechanical Engineering, University of Craiova, Romania, 06/1984

Thesis: Industrial Robot actuated with Pneumatic Motors

Post-doctoral Training

03/00-08/00:Post-Doctoral Fellow in Medical Robotics, Brady Urological Institute, School of Medicine, Johns Hopkins University, Baltimore, MD, USA;

Professional Experience

07/19 – present: Research Professor, Department of Mechanical Engineering, Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA – research activity

07/14 – 06/19: Associate Research Professor, Department of Mechanical Engineering, Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA – research activity

11/09 – 06/14: Assistant Research Professor, Department of Mechanical Engineering, Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA – research activity

07/07 – 10/09: Assoc Research Scientist, Center for Computer-Integrated Surgical Systems and Technology, Johns Hopkins University, Baltimore, MD, USA – research activity

04/04 – 06/07: Research Engineer, Center for Computer-Integrated Surgical Systems and Technology, Johns Hopkins University, Baltimore, MD, USA – research activity

10/03-03/04: Associate Professor, School of Mechanical Engineering, University of Craiova, Romania – teaching and research activity

10/02-09/03: Visiting Associate Professor, Graduate School of Frontier Sciences, The University of Tokyo, JAPAN – research activity

10/98-09/02: Associate Professor, School of Mechanical Engineering, University of Craiova, Romania – teaching and research activity

10/93-09/98: Senior Lecturer, School of Mechanical Engineering, University of Craiova, Romania – teaching and research activity

09/90-09/93: Assistant Professor, School of Mechanical Engineering, University of Craiova, Romania – teaching and research activity

10/86-08/90: Research-Design Engineer, Research and Technology Institute for Electric Motors, Transformers and Electric Apparatus, Craiova, Romania – design and research activity

09/84-09/86: Mechanical Engineer, S.C. “Electroputere” SA, Craiova, Romania, Tools Factory – manufacturing process design activity

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Teaching Experience

09.2015 – 12.2018: JHU, WSE, Mechanical Engineering Department:

EN.530.403, Engineering Design Project I (part time)

02.2015 – 05.2019: JHU, WSE, Mechanical Engineering Department:

EN.530.404, Engineering Design Project II (part time)

10/98-03/04: Associate Professor, School of Mechanical Engineering, University of Craiova, Romania:

  • Industrial Robots – Course, Laboratory experiments;
  • Mechanical Structures for Robots and Manipulators – Course, Laboratory experiments, Project, Seminar;
  • Machine Components Design – Course, Laboratory experiments, Project;
  • Special Mechanisms and Mechanical Transmissions for Robots – Course, Laboratory experiments, Project, Seminar;
  • Machine Design Optimization – Course, Project, Seminar (2002-2004, new course).

10/93-09/98: Senior Lecturer, School of Mechanical Engineering, University of Craiova, Romania:

  • Industrial Robots – Course, Laboratory experiments (new course);
  • Mechanical Structures for Robots and Manipulators – Course, Laboratory experiments, Project, Seminar (new course);
  • Machine Components Design – Course, Laboratory experiments, Project;
  • Mechanisms and Machines Theory – Course, Laboratory experiments, Project, Seminar;

09/90-09/93: Assistant Professor, School of Mechanical Engineering, University of Craiova, Romania:

  • Machine Components Design – Laboratory experiments, Project, Seminar;
  • Mechanisms and Machines Theory – Laboratory experiments, Project, Seminar;

Research Interests

  • Robotics / Medical Robotics / Surgical Robotics
  • Medical Instrumentation / Smart Surgical Tools
  • Image-Guided Surgery / Computer Assisted Surgery
  • Mechanisms and Mechanical Transmissions for Robots

Publications

Books and Textbooks

  1. Popescu, I., Iordachita, I., Dumitru, N., Rinderu, P. Biological Mechanisms, SITECH Publishing House, Craiova, Romania, ISBN 973-97524-9-1, 1997, (in Romanian).
  2. Iordachita, I. Special Mechanisms and Mechanical Transmissions for Industrial Robots, University of Craiova, Publishing House, 1997, (in Romanian).
  3. Iordachita, I. Industrial Robots, University of Craiova, Publishing House, 1997, (in Romanian);
  4. Catrina, G., Dumitru, N., Ilie, E., Iordachita, I., Margine, A., Rosca, D. Machine Parts. Practical Applications Guide, University of Craiova, Publishing House, 1994, (in Romanian);

Books Chapters

  1. Tosi, D., Poeggel, S., Iordachita, I., and Schena, E., “Fiber Optic Sensors for Biomedical Applications.” In Opto-Mechanical Fiber Optic Sensors, pp. 301-333. 2018
  2. Vander Poorten, E., Riviere, C.N., Abbott, J.J., Bergeles, C., Nasseri, M.A., Kang, J.U., Sznitman, R., Faridpooya, K. and Iordachita, I., Robotic Retinal Surgery. In Handbook of Robotic and Image-Guided Surgery(pp. 627-672). Oct.2019. Elsevier.
  3. Deng, Z., Xu, X., Dehghani, H., Sforza, D.M., Iordachita, I., Lim, M., Wong, J.W. and Wang, K.K.H., “Quantitative Bioluminescence Tomography for In Vivo Volumetric-Guided Radiotherapy.” In Biomedical Engineering Technologies (pp. 701-731). Dec. 2021 Humana, New York, NY.,

Journal Papers (selection)

  1. Ebrahimi, A., Sefati, S., Gehlbach, P., Taylor, R.H. and Iordachita, I.I., “Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery.” IEEE Transactions on Robotics. Vol. xx, no. x, On-line Sep 9, 2022
  2. Iordachita, I.I., de Smet, M.D., Naus, G., Mitsuishi, M., and Riviere, C.N., “Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives,” in Proceedings of the IEEE, vol. 110, no. 7, pp. 893-908, Jul. 2022, DOI: 10.1109/JPROC.2022.3169466.
  3. Alamdar, A., Patel, N., Urias, M.G., Ebrahimi, A., Gehlbach, P.L. and Iordachita, I., “Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: in-vivo Study”. IEEE Transactions on Biomedical Engineering. vol. 69, no. 3, pp.1123-1132, Mar. 2022, DOI1109/TBME.2021.3114638
  4. Jinno, M. and Iordachita, I., “Improved Integrated Robotic Intraocular Snake: Analyses of the Kinematics and Drive Mechanism of the Dexterous Distal Unit.” Journal of Medical Robotics Research. vol. 06, no.01n02, pp.1-13, p. 2140001, May 2021, https://doi.org/10.1142/S2424905X21400018.
  5. Ebrahimi, A., Urias, M., Patel, N., Taylor, R.H., Gehlbach, P.L. and Iordachita, I., “Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.” IEEE Transactions on Bio-Medical Engineering. vol. 68, no.11, pp.3356-3365, Nov. 2021, DOI:1109/TBME.2021.3071135
  6. Ebrahimi, A., Alambeigi, F., Sefati, S., Patel, N., He, C., Gehlbach, P.L. and Iordachita, I., “Stochastic Force-based Insertion Depth and Tip Position Estimations of Flexible FBG-Equipped Instruments in Robotic Retinal Surgery.” IEEE/ASME Transactions on Mechatronics. vol. xx, no. x, pp.1-12, On-line 08 Sep. 2020, DOI:1109/TMECH.2020.3022830
  7. Li, G., Patel, N., Wang, Y., Dumoulin, C., Loew, W., Loparo, O., Schneider, K., Sharma, K., Cleary, K., Fritz, J. and Iordachita, I.I., “Fully Actuated Body-Mounted Robotic System for MRI-Guided Lower Back Pain Injections: Initial Phantom and Cadaver Studies.” IEEE Robotics and Automation Letters. 5, no. 4, pp.5245-5251, Jul. 2020, 10.1109/LRA.2020.3007459
  8. He, C., Yang, E., Patel, N., Ebrahimi, A., Shahbazi, M., Gehlbach, P.L., and Iordachita, I., “Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery” IEEE/ASME Transactions on Mechatronics. vol. xx, no. xx, pp.1-11, 2020, Online May 22 2020, DOI1109/TMECH.2020.2996683
  9. He, C., N. Patel, M. Shahbazi, Y. Yang, P. L. Gehlbach, M. Kobilarov, and Iordachita. I., “Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-based Active Interventional Control Framework.” IEEE transactions on bio-medical engineering, vol. 67, no. 4, pp. 966-977, Apr. 2020, 10.1109/TBME.2019.2926060
  10. He, C., Patel, N., Ebrahimi, A., Kobilarov, M. and Iordachita, I., “Preliminary study of an RNN-based active interventional robotic system (AIRS) in retinal microsurgery.” International journal of computer assisted radiology and surgery, vol. 14, no. 6, pp. 945-954, Jun 2019. https://doi.org/10.1007/s11548-019-01947-9
  11. Patel, N., Yan, J., Monfaredi, R., Sharma, K., Cleary, K. and Iordachita, I., “Preclinical evaluation of an integrated robotic system for magnetic resonance imaging-guided shoulder arthrography.” Journal of Medical Imaging, vol. 6, no. 2, p.025006. May 2019, https://doi.org/10.1117.1.JMI.6.2.025006
  12. Gonenc, B., Chamani, A., Handa, J., Gehlbach, P., Taylor, R.H. and Iordachita, I., “3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery.” IEEE Sensors Journal. vol. 17, no. 11, pp. 3526-3541, Jun. 2017

Peer-Reviewed Conference Papers (selection)

  1. Wang, Y., Liu, G., Li, G., Cleary, K., and Iordachita, I., “An MR-Conditional Needle Driver for Robot-Assisted Spinal Injections: Design Modifications and Evaluations.” In 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 3307-3312, IEEE. Glasgow, UK. Jul. 2022.
  2. Kim, M.J., Lezcano, D.A., Kim, J.S., and Iordachita, I., “Toward FBG-Sensorized Needle Shape Detection in Real Tissue Insertions.” In 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC,) 4397-4401, IEEE. Glasgow, UK. Jul. 2022.
  3. Jinno, M., Iordachita, I., “Microgripper Using Flexible Wire Hinge for Robotic Intraocular Snake”, In Proc. 2022 IEEE Int. Conf. on Robotics and Automation (ICRA), Philadelphia, PA, US, pp. 6218-6224, May 2022.
  4. Wang, Y., Li, G., Kwok, K.W., Cleary, K., Taylor, R.H., and Iordachita, I., “Towards Safe in Situ Needle Manipulation for Robot Assisted Lumbar Injection in Interventional MRI.” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Prague, Czech Republic, pp. 1835-1842, Sep. 2021
  5. Jinno, M., Patel, N., Li, G., Iordachita, I., “An Integrated High-dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation”, In Proc. 2021 IEEE Int. Conf. on Robotics and Automation (ICRA), Xi’an, China, pp. 1198-1204, May-Jun. 2021.
  6. Ebrahimi, A., Roizenblatt, M., Patel, N, Gehlbach, P., and Iordachita, I., “Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: A Multi-User Study” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA (Virtual), pp. 3274 – 3280, Oct. 2020.
  7. He, C., Ebrahimi, A., Yang, E., Urias, M., Yang, Y., Gehlbach, P., and Iordachita, I., “Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System with a Dual Force Constraint Controller.” In 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), Paris, France, pp. 4441-4447, Jun. 2020.
  8. Li, G., Patel, N., Liu, W., Wu, D., Sharma, K., Cleary, K., Fritz, J., and Iordachita, I., “A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection.” In 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), Paris, France, pp. 5495-5501, Jun. 2020..
  9. Ebrahimi, A., Alambeigi, F., Zimmer-Galler, I.E., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study” In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Macau, China, pp. 7075-7082, Nov. 2019.
  10. Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., and Iordachita, I., “Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.” In 2019 IEEE Int. Conf. on Robotics and Automation (ICRA), Montreal, Canada, pp. 9073-9079, May 2019, Best Paper Award in Medical Robotics.
  11. He, C., Patel, N., Iordachita, I., and Kobilarov, M., “Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Sclera Force.” In 2019 IEEE Int. Conf. on Robotics and Automation (ICRA), Montreal, Canada, pp. 3889-3894, May 2019,
  12. Patel, N. A., Yan, J., Levi, D., Monfaredi, R., Cleary, K., & Iordachita, I., “Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation.” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, pp. 1443-1448, Oct. 2018.
  13. Ebrahimi, A., He, C., Roizenblatt, M., Patel, N., Sefati, S., Gehlbach, P., and Iordachita, I., “Real-Time Sclera Force Feedback for Enabling Safe Robot Assisted Vitreoretinal Surgery,” in Proc 40th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, HI, USA, pp. 3650-3655, Jul. 2018.
  14. Gonenc, B., Patel, N., and Iordachita, I., “Evaluation of a Force-Sensing Handheld Robot for Assisted Retinal Vein Cannulation,” in Proc 40th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, HI, USA, pp. 3664-3668, Jul. 2018.
  15. Kim, J.S., Guo, J., Chatrasingh, M., Kim, S., and Iordachita, I., “Shape Determination During Needle Insertion with Curvature Measurements” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, pp. 201-208, Sep. 2017.
  16. Kim, J.S., Levi, D., Monfaredi, R., Cleary, K., and Iordachita, I., “A New 4-DOF Parallel Robot for MRI-Guided Percutaneous Interventions: Kinematic Analysis,” in Proc 39th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Jeju Island, Korea, pp. 4251-4255, Jul. 2017.
  17. Song, J., Gonenc, B., Guo, J., and Iordachita, I., “Intraocular Snake Integrated with the Steady-Hand Eye Robot for Assisted Retinal Microsurgery,” 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017, pp. 6724-6729
  18. Gonenc, B., Tran, N., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Robot-Assisted Retinal Vein Cannulation with Force-Based Puncture Detection: Micron vs. the Steady-Hand Eye Robot,” in Proc 38th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL. pp. 5107-5111, Aug. 2016.
  19. Gonenc, B., Gehlbach, P., Taylor, R. H., & Iordachita, I., “Effects of micro-vibratory modulation during robot-assisted membrane peeling.” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 3811-3816, Sep. 2015
  20. He, X., van Geirt, V., Gehlbach, P., Taylor, R.H., Iordachita, I., “IRIS: Integrated Robotic Intraocular Snake,” Proc. 2015 IEEE Int. Conf. on Robotics and Automation (ICRA), Seattle, USA, pp. 1764-1769, May. 2015.

Conference Abstracts (selection)

  1. Urias, M.G., Patel, N., Ebrahimi, A., Roizenblatt, M., Iordachita, I.I., and Gehlbach, P.L., “Mapping and Controlling Scleral Force Interactions in Bimanual Robot-assisted Retinal Surgery.” Investigative Ophthalmology & Visual Science, vol. 61, no. 7, pp.3725-3725.
  2. He, C., Roizenblatt, M., Patel, N., Ebrahimi, A., Gehlbach, P.L. and Iordachita, I., “Robotic assistance affects manipulation skills in bimanual retinal surgery simulation: a tool-to-sclera force study.” Investigative Ophthalmology & Visual Science60(9), pp.5798-5798. Jul. 2019
  3. Deng, Z., Xu, X., Kim, F., Belcaid, Z., Garton-Muvdi, T., Luksik, A., Maxwell, R., Iordachita, I., Yu, J., Lim, M. and Wong, J., “Bioluminescence Tomography-Guided Radiation Therapy for Glioblastoma In Vivo.” In MEDICAL PHYSICS (Vol. 45, No. 6, pp. E148-E148), Jun. 2018
  4. Roizenblatt, M., Ebrahimi, A., He, C., Patel, N., Iordachita, I. and Gehlbach, P.L., “Quantitative Evaluation of Tool-to-Sclera Forces, in a Model of Retinal Microsurgery.” Investigative Ophthalmology & Visual Science, 59(9), pp.5926-5926, Jul. 2018.
  5. Xu, X., Deng, Z., Iordachita, I., Wong, J. and Wang, K., “A Novel Multi-Projection Bioluminescence Tomography for Small Animal Radiation Research Platform (SARRP)”. In MEDICAL PHYSICS (Vol. 45, No. 6, pp. E393-E393, Jun. 2018.
  6. Zhang, B., Yu, J., Iordachita, I., Reyes, J., Liu, Z., Brock, M., Patterson, M., Wong, J. and Wang, K., “WE-FG-BRA-06: Systematic Study of Target Localization for Bioluminescence Tomography Guided Radiation Therapy for Preclinical Research.” Medical Physics, 43(6), pp.3824-3824, 2016.

Patents and Inventions

  1. Taylor, R.H., Canezin, A., Schrum, M., Iordachita, I.I., Chirikjian, G., Laskowski, M., Chakravarty, S. and Hoffman, S., “Mosquito Salivary Gland Extraction Device and Methods of Use.” U.S. Patent Application 15/621,875. Filed Dec. 14, 2017
  2. Wong, J., Wang, K.K.H. and Iordachita, I.I., “Optical imaging system and method of making and using the same.” U.S. Patent Application 15/520,973. Filed Jan. 25 2018
  3. He, X., Iordachita, I.I., Van Geirt, V., Gehlbach, P. and Taylor, R., “Manipulator Device and Therapeutic and Diagnostic Methods.” U.S. Patent Application 15/574,483. Filed May 10, 2018
  4. He, X., Iordachita, I.I., Horise, Y., Taylor, R.H. and Gehlbach, P.L., “Surgical system providing hands-free control of a surgical tool.” U.S. Patent 10188552, U.S. Patent Application 15/237,347. Filed Feb. 16, 2017, Publication 01/29/2019.
  5. He, X., Iordachita, I.I., Taylor, R.H., Handa, J.T. and Gehlbach, P.L., “Tool and tool system having independent axial and transverse force sensing.” U.S. Patent 10363164, U.S. Patent Application 15/234,896. Filed Jun. 8 2017, Publication 07/30/2019.
  6. Gonenc, B., Iordachita, I.I., Taylor, R.H., Riviere, C., Gehlbach, P.L. and Handa, J.T., “Micromanipulation System and Methods” U.S. Patent 10369045, Application 14/810.277, Filed 07/27/2015, Publication 08/06/2019
  7. Iordachita, I.I., Liu, H., Armand, M., Taylor, R.H. and Farvardin, A., “Shape tracking of a dexterous continuum manipulator.” U.S. Patent 10226304, U.S. Patent Application 14/970,177. Filed Jun. 16, 2016, Publication 03/12/2019.
  8. Boctor, E.M., Iordachita, I.I., Guo, X., Cheng, A., Zhang, H.K., Alamifar, F., “Robot Assisted Ultrasound System,” U.S. Patent 10335116, U.S. Patent Application 14/690,232, Filed Oct. 22 2015. Publication 07/02/2019.
  9. Taylor, R.H., Handa, J., Balicki, M.A., Handa, J.T., Gehlbach, P.L., Iordachita, I.I., and Uneri, A., “Method for Presenting Force Sensor Information Using Cooperative Robot Control and Audio Feedback,” U.S. Patent Application 13/813,727, Filed Feb. 20, 2014.
  10. He, X., Iordachita, I.I., Balicki, M. and Taylor, R.H., “Multi-force sensing surgical instrument and method of use for robotic surgical systems.” U.S. Patent 9,549,781, Issued Jan. 24, 2017
  11. Taylor, R.H., Handa, J., Balicki, M., Iordachita, I., Uneri, A., Gehlbach, P., “Micro-force Guided Cooperative Control for Surgical Manipulation of Delicate Tissue,” U.S. Patent 9.662.174, Issued May 30 2017
  12. Monfaredi, R., Iordachita, I.I., Seifabadi, R., “MRI-compatible, Integrated Force and Torque Sensors and Systems that Incorporate the Sensors,” U.S. Patent 9,289,265, Issued Mar. 22, 2016.
  13. Taylor, R.H., Iordachita, I., Kang, J.U. and Liu, X., “Interferometric Force Sensor for Surgical Instruments.” U.S. Patent 9,241,693, Issued Jan. 26 2016.
  14. Taylor, R.H., Niparko, J., Iordachita, I., Chien, W., “Method and Apparatus for Cochlear Implant Surgery,” U.S. Patent 9,020,613, Issued April 28, 2015.
  15. Wong, J.W.C., Patterson, M.S., Iordachita, I.I., “Method and Apparatus for Real-time Mechanical and Dosimetric Quality Assurance Measurements in Radiation Therapy,” U.S. Patent 9,211,101, Issued Dec. 15, 2015.
  16. Whitcomb, L.L., Krieger, A., Susil, R.C., Fichtinger, G., Atalar, E., Iordachita, I.I., “Apparatus for Insertion of a Medical Device within a Body During a Medical Imaging Process and Devices and Methods Related Thereto,” U.S. Patent 8,521,257, Issued Aug. 27 2013.
  17. Stoianovici, D., Fichtinger, G., Wiard, R.M., Iordachita, I.I., Whitcomb, L.L., Taylor, R.H., “Controllable motorized device for percutaneous needle placement in soft tissue target and methods and systems related thereto,” U.S. Patent 7,494,494 B2, Issued Feb. 24, 2009.

Research projects (selection)

  1. MRI Compatible Robot for Improved Pain Injections in Adults and Children. R01 EB025179-01 (Cleary), CNMC, Grantor NIM, 2018-2022, PI (of JHU sub-contract)
  2. Enabling Technology for safe Robot-assisted Surgical Micromanipulation. 1R01 EB023943-01 (Iordachita), JHU, Grantor NIH, 2017-2021, PI
  3. MRI Compatible body-mounted robot to streamline pediatric shoulder arthrography. 1R01 EB020003-01 (Cleary), CNMC, Grantor NIH, 2016-2020, PI (of JHU sub-contract)
  4. Enabling Technology for Image-guided Robot-assisted Subretinal Injections. 1R01 EB025883-01A1 (Iordachita), JHU, Grantor NIH, 2019-2022, PI
  5. Adaptive Percutaneous Prostate Interventions using Sensorized Needle. 1R01 CA235134-01, (Tokuda), BWH, Grantor NIH, 2019-2022, PI (of JHU sub-contract)
  6. Enabling technology for MRI-guided prostate interventions, 2R01CA111288-06 (Tempany), BWH, Grantor NIH, 2011-2016, PI (of JHU sub-contract)
  7. An integrated x-ray/optical tomography system for preclinical radiation research. R01 CA158100-01 (Wong), Johns Hopkins University, Grantor NIH, 2011-2014, Co-PI